Automatic parameter adjustment of reflexive walking of a musculo-skeletal humanoid

摘要

Humanoid robots need mechanical flexibility, redundancy, multiple degrees of freedom, and so on. Because the hard and heavy body can hurt human or surrounding objects, multiple degrees of freedom and flexibility are needed in a daily life. A novel musculo-skeletal humanoid ‘Kojiro’ is one of the answer to these demand. It has those physical characteristics. How to move this complex bodily structure is a challenging theme. Especially motion generation using only partial information by itself make actional multiplicity, it will be useful in diversified environment. This paper presents the approach to make Kojiro walk and make Kojiro adjust self-parameter to walk using 6-Axis force sensors in the feet.